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US 2021/0197804 A1Published application
Method of adaptive trajectory generation for a vehicle
AssigneeAutomotive Research & Testing Center
InventorsChien-Feng Wu, Bo-Han Lin, Tsung-Ming Hsu, Ming-Kuan Ko
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Abstract
A method of adaptive trajectory generation for a vehicle is provided. A computer device of the vehicle may update a current trajectory for the vehicle when some predetermined conditions that are related to an obstacle positioned within a predetermined distance of the vehicle are satisfied.
Claims16
A method of adaptive trajectory generation for a host vehicle that includes:
- a vehicle sensor device configured to continuously detect vehicle dynamic parameters of the host vehicle, so as to generate vehicle information that relates to the host vehicle and that includes a vehicle velocity and a vehicle acceleration, wherein the vehicle velocity refers to a velocity of the host vehicle, and the vehicle acceleration refers to an acceleration of the host vehicle;
- an obstacle sensor device configured to continuously perform obstacle detection within a predetermined distance of the host vehicle, so as to generate, for each obstacle thus detected, an obstacle information piece corresponding to the obstacle, the obstacle information piece including:
- an obstacle location that refers to a location of the obstacle;
- an obstacle velocity that refers to a velocity of the obstacle;
- and
- an obstacle acceleration that refers to an acceleration of the obstacle;
- a navigation device storing a map that relates to a route on which the host vehicle is traveling, and configured to continuously determine a vehicle location which refers to a location of the host vehicle, and to generate road condition information that includes a maximum speed limit and a lane width of a current lane, which is a lane in which the host vehicle is currently located, wherein the map includes information of each lane of each road;
- a traffic flow sensor device configured to detect velocities of vehicles in an adjacent lane that is a lane next to the current lane and that has a same lane direction as the current lane;
- and
- a computer device coupled to the vehicle sensor device, the obstacle sensor device, the navigation device and the traffic flow sensor device, and storing a current trajectory for the host vehicle;
- said method being implemented by the computer device, and comprising, for a detected obstacle, which is an obstacle detected by the obstacle sensor device within the predetermined distance of the host vehicle:
- A) determining whether a first predetermined condition is satisfied at a current time point, wherein the first predetermined condition is related to the vehicle information, the vehicle location and the obstacle information piece generated for the detected obstacle;
- B) upon determining that the first predetermined condition is not satisfied, determining whether a second predetermined condition is satisfied at the current time point, wherein the second predetermined condition is related to the vehicle information, the vehicle location, the obstacle information piece generated for the detected obstacle, the road condition information and the velocities of vehicles in the adjacent lane;
- and
- C) upon determining that the second predetermined condition is satisfied, updating the current trajectory based on the vehicle information, the vehicle location, the obstacle information piece generated for the detected obstacle and the road condition information that correspond to the current time point.
12 more elements
A system of adaptive trajectory generation for a host vehicle comprising:
- a vehicle sensor device configured to continuously detect vehicle dynamic parameters of the host vehicle so as to generate vehicle information that relates to the host vehicle and that includes a vehicle velocity and a vehicle acceleration, wherein the vehicle velocity refers to a velocity of the host vehicle, and the vehicle acceleration refers to an acceleration of the host vehicle;
- an obstacle sensor device configured to continuously perform obstacle detection within a predetermined distance of the host vehicle, and to generate, for each obstacle thus detected, an obstacle information piece corresponding to the obstacle, the obstacle information piece including:
- an obstacle location that refers to a location of the obstacle;
- an obstacle velocity that refers to a velocity of the obstacle;
- and
- an obstacle acceleration that refers to an acceleration of the obstacle;
- a navigation device storing a map that relates to a route on which the host vehicle is traveling, and configured to continuously determine a vehicle location which refers to a location of the host vehicle, and to generate road condition information that includes a maximum speed limit and a lane width of a current lane, which is a lane in which the host vehicle is currently located, wherein the map includes information of each lane of each road;
- a traffic flow sensor device configured to detect velocities of vehicles in an adjacent lane that is a lane next to the current lane and that has a same lane direction as the current lane;
- and
- a computer device coupled to said vehicle sensor device, said obstacle sensor device, said navigation device and said traffic flow sensor device, and scoring a current trajectory for the host vehicle;
- wherein said computer device is configured to, for a detected obstacle, which is an obstacle detected by said obstacle sensor device within the predetermined distance of the host vehicle, determine whether a first predetermined condition is satisfied at a current time point, wherein the first predetermined condition is related to the vehicle information, the vehicle location and the obstacle information piece generated for the detected obstacle;
- wherein said computer device is configured to, upon determining that the first predetermined condition is not satisfied, determine whether a second predetermined condition is satisfied at the current time point, wherein the second predetermined condition is related to the vehicle information, the vehicle location, the obstacle information piece generated for the detected obstacle, the road condition information and the velocities of vehicles in the adjacent lane;
- and
- wherein said computer device is configured to, upon determining that the second predetermined condition is satisfied, update the current trajectory based on the vehicle information, the vehicle location, the obstacle information piece generated for the detected obstacle, and the road condition information that correspond to the current time point.
11 more elements
Dependencies are inferred from the claim text.